
Creating embodied, situated agents able to move in, communicate naturally about, and collaborate on human terms in the physical world has been a persisting goal in artificial intelligence [1]}.
During communication in such a setting, agents not only need to ground entities in language to that of the physical world; efficient and accurate human-agent collaboration further requires agents to reason about the progress of the task at hand and to plan and execute a series of collaborative steps, whilst maintaining common ground [2]} with collaboration partners, in order to achieve a certain goal.
